git.sur5r.net Git - openocd/blob - src/jtag/jlink.c

   1 /***************************************************************************
   2  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   Copyright (C) 2008 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include "replacements.h"
  29
  30 #include "jtag.h"
  31
  32 #include <usb.h>
  33 #include <string.h>
  34
  35 #include "log.h"
  36
  37 #define VID 0x1366
  38 #define PID 0x0101
  39
  40 #define JLINK_WRITE_ENDPOINT    0x02
  41 #define JLINK_READ_ENDPOINT             0x81
  42
  43 #define JLINK_USB_TIMEOUT               1000
  44
  45 // See Section 1.3.2 of the Segger JLink USB protocol manual
  46 #define JLINK_IN_BUFFER_SIZE                    2048
  47 #define JLINK_OUT_BUFFER_SIZE                   2048
  48 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  49
  50 /* Global USB buffers */
  51 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  52 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  53 static u8 usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  54
  55 /* Constants for JLink command */
  56 #define EMU_CMD_VERSION     0x01
  57 #define EMU_CMD_SET_SPEED   0x05
  58 #define EMU_CMD_GET_STATE   0x07
  59 #define EMU_CMD_HW_JTAG3    0xcf
  60 #define EMU_CMD_HW_RESET0   0xdc
  61 #define EMU_CMD_HW_RESET1   0xdd
  62 #define EMU_CMD_HW_TRST0    0xde
  63 #define EMU_CMD_HW_TRST1    0xdf
  64
  65 /* max speed 12MHz v5.0 jlink */
  66 #define JLINK_MAX_SPEED 12000
  67
  68 /* External interface functions */
  69 static int jlink_execute_queue(void);
  70 static int jlink_speed(int speed);
  71 static int jlink_speed_div(int speed, int* khz);
  72 static int jlink_khz(int khz, int *jtag_speed);
  73 static int jlink_register_commands(struct command_context_s *cmd_ctx);
  74 static int jlink_init(void);
  75 static int jlink_quit(void);
  76
  77 /* CLI command handler functions */
  78 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  79
  80 /* Queue command functions */
  81 static void jlink_end_state(tap_state_t state);
  82 static void jlink_state_move(void);
  83 static void jlink_path_move(int num_states, tap_state_t *path);
  84 static void jlink_runtest(int num_cycles);
  85 static void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  86 static void jlink_reset(int trst, int srst);
  87 static void jlink_simple_command(u8 command);
  88 static int jlink_get_status(void);
  89
  90 /* J-Link tap buffer functions */
  91 static void jlink_tap_init(void);
  92 static int jlink_tap_execute(void);
  93 static void jlink_tap_ensure_space(int scans, int bits);
  94 static void jlink_tap_append_step(int tms, int tdi);
  95 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
  96
  97 /* Jlink lowlevel functions */
  98 typedef struct jlink_jtag
  99 {
 100         struct usb_dev_handle* usb_handle;
 101 } jlink_jtag_t;
 102
 103 static jlink_jtag_t *jlink_usb_open(void);
 104 static void jlink_usb_close(jlink_jtag_t *jlink_jtag);
 105 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
 106 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
 107 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size);
 108 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag);
 109
 110 /* helper functions */
 111 static int jlink_get_version_info(void);
 112
 113 #ifdef _DEBUG_USB_COMMS_
 114 static void jlink_debug_buffer(u8 *buffer, int length);
 115 #endif
 116
 117 static jlink_jtag_t* jlink_jtag_handle;
 118
 119 /***************************************************************************/
 120 /* External interface implementation */
 121
 122 jtag_interface_t jlink_interface =
 123 {
 124         .name = "jlink",
 125         .execute_queue = jlink_execute_queue,
 126         .speed = jlink_speed,
 127         .speed_div = jlink_speed_div,
 128         .khz = jlink_khz,
 129         .register_commands = jlink_register_commands,
 130         .init = jlink_init,
 131         .quit = jlink_quit
 132 };
 133
 134 static void jlink_execute_end_state(jtag_command_t *cmd)
 135 {
 136         DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 137
 138         if (cmd->cmd.end_state->end_state != TAP_INVALID)
 139                 jlink_end_state(cmd->cmd.end_state->end_state);
 140 }
 141
 142 static void jlink_execute_runtest(jtag_command_t *cmd)
 143 {
 144         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 145                         cmd->cmd.runtest->num_cycles,
 146                         cmd->cmd.runtest->end_state);
 147
 148         if (cmd->cmd.runtest->end_state != TAP_INVALID)
 149                 jlink_end_state(cmd->cmd.runtest->end_state);
 150
 151         jlink_runtest(cmd->cmd.runtest->num_cycles);
 152 }
 153
 154 static void jlink_execute_statemove(jtag_command_t *cmd)
 155 {
 156         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 157
 158         if (cmd->cmd.statemove->end_state != TAP_INVALID)
 159         {
 160                 jlink_end_state(cmd->cmd.statemove->end_state);
 161         }
 162         jlink_state_move();
 163 }
 164
 165 static void jlink_execute_pathmove(jtag_command_t *cmd)
 166 {
 167         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 168                 cmd->cmd.pathmove->num_states,
 169                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 170
 171         jlink_path_move(cmd->cmd.pathmove->num_states,
 172                         cmd->cmd.pathmove->path);
 173 }
 174
 175 static void jlink_execute_scan(jtag_command_t *cmd)
 176 {
 177         int scan_size;
 178         enum scan_type type;
 179         u8 *buffer;
 180
 181         DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 182
 183         if (cmd->cmd.scan->end_state != TAP_INVALID)
 184                 jlink_end_state(cmd->cmd.scan->end_state);
 185
 186         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 187         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 188
 189 #ifdef _DEBUG_USB_COMMS_
 190         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 191 #endif
 192         type = jtag_scan_type(cmd->cmd.scan);
 193         jlink_scan(cmd->cmd.scan->ir_scan,
 194                         type, buffer, scan_size, cmd->cmd.scan);
 195 }
 196
 197 static void jlink_execute_reset(jtag_command_t *cmd)
 198 {
 199         DEBUG_JTAG_IO("reset trst: %i srst %i",
 200                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 201
 202         jlink_tap_execute();
 203
 204         if (cmd->cmd.reset->trst == 1)
 205                 tap_set_state(TAP_RESET);
 206
 207         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 208 }
 209
 210 static void jlink_execute_sleep(jtag_command_t *cmd)
 211 {
 212         DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 213         jlink_tap_execute();
 214         jtag_sleep(cmd->cmd.sleep->us);
 215 }
 216
 217 static void jlink_execute_command(jtag_command_t *cmd)
 218 {
 219         switch (cmd->type)
 220         {
 221         case JTAG_END_STATE: jlink_execute_end_state(cmd); break;
 222         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 223         case JTAG_STATEMOVE: jlink_execute_statemove(cmd); break;
 224         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 225         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 226         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 227         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 228         default:
 229                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 230                 exit(-1);
 231         }
 232 }
 233
 234 static int jlink_execute_queue(void)
 235 {
 236         jtag_command_t *cmd = jtag_command_queue;
 237
 238         while (cmd != NULL)
 239         {
 240                 jlink_execute_command(cmd);
 241                 cmd = cmd->next;
 242         }
 243
 244         return jlink_tap_execute();
 245 }
 246
 247 /* Sets speed in kHz. */
 248 static int jlink_speed(int speed)
 249 {
 250         int result;
 251
 252         if (speed > JLINK_MAX_SPEED)
 253         {
 254                 LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum",
 255                                 speed, JLINK_MAX_SPEED);
 256                 return ERROR_OK;
 257         }
 258
 259         /* check for RTCK setting */
 260         if (speed == 0)
 261                 speed = -1;
 262
 263         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 264         usb_out_buffer[1] = (speed >> 0) & 0xff;
 265         usb_out_buffer[2] = (speed >> 8) & 0xff;
 266
 267         result = jlink_usb_write(jlink_jtag_handle, 3);
 268         if (result != 3)
 269         {
 270                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 271                 return ERROR_JTAG_DEVICE_ERROR;
 272         }
 273
 274         return ERROR_OK;
 275 }
 276
 277 static int jlink_speed_div(int speed, int* khz)
 278 {
 279         *khz = speed;
 280
 281         return ERROR_OK;
 282 }
 283
 284 static int jlink_khz(int khz, int *jtag_speed)
 285 {
 286         *jtag_speed = khz;
 287
 288         return ERROR_OK;
 289 }
 290
 291 static int jlink_register_commands(struct command_context_s *cmd_ctx)
 292 {
 293         register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
 294                 "query jlink info");
 295         return ERROR_OK;
 296 }
 297
 298 static int jlink_init(void)
 299 {
 300         int check_cnt;
 301
 302         jlink_jtag_handle = jlink_usb_open();
 303
 304         if (jlink_jtag_handle == 0)
 305         {
 306                 LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions.");
 307                 return ERROR_JTAG_INIT_FAILED;
 308         }
 309
 310         check_cnt = 0;
 311         while (check_cnt < 3)
 312         {
 313                 if (jlink_get_version_info() == ERROR_OK)
 314                 {
 315                         /* attempt to get status */
 316                         jlink_get_status();
 317                         break;
 318                 }
 319
 320                 check_cnt++;
 321         }
 322
 323         if (check_cnt == 3)
 324         {
 325                 LOG_INFO("J-Link initial read failed, don't worry");
 326         }
 327
 328         LOG_INFO("J-Link JTAG Interface ready");
 329
 330         jlink_reset(0, 0);
 331         jlink_tap_init();
 332         jlink_speed(jtag_speed);
 333
 334         return ERROR_OK;
 335 }
 336
 337 static int jlink_quit(void)
 338 {
 339         jlink_usb_close(jlink_jtag_handle);
 340         return ERROR_OK;
 341 }
 342
 343 /***************************************************************************/
 344 /* Queue command implementations */
 345
 346 static void jlink_end_state(tap_state_t state)
 347 {
 348         if (tap_is_state_stable(state))
 349         {
 350                 tap_set_end_state(state);
 351         }
 352         else
 353         {
 354                 LOG_ERROR("BUG: %i is not a valid end state", state);
 355                 exit(-1);
 356         }
 357 }
 358
 359 /* Goes to the end state. */
 360 static void jlink_state_move(void)
 361 {
 362         int i;
 363         int tms = 0;
 364         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 365
 366         for (i = 0; i < 7; i++)
 367         {
 368                 tms = (tms_scan >> i) & 1;
 369                 jlink_tap_append_step(tms, 0);
 370         }
 371
 372         tap_set_state(tap_get_end_state());
 373 }
 374
 375 static void jlink_path_move(int num_states, tap_state_t *path)
 376 {
 377         int i;
 378
 379         for (i = 0; i < num_states; i++)
 380         {
 381                 if (path[i] == tap_state_transition(tap_get_state(), false))
 382                 {
 383                         jlink_tap_append_step(0, 0);
 384                 }
 385                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 386                 {
 387                         jlink_tap_append_step(1, 0);
 388                 }
 389                 else
 390                 {
 391                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 392                         exit(-1);
 393                 }
 394
 395                 tap_set_state(path[i]);
 396         }
 397
 398         tap_set_end_state(tap_get_state());
 399 }
 400
 401 static void jlink_runtest(int num_cycles)
 402 {
 403         int i;
 404
 405         tap_state_t saved_end_state = tap_get_end_state();
 406
 407         /* only do a state_move when we're not already in IDLE */
 408         if (tap_get_state() != TAP_IDLE)
 409         {
 410                 jlink_end_state(TAP_IDLE);
 411                 jlink_state_move();
 412         }
 413
 414         /* execute num_cycles */
 415         for (i = 0; i < num_cycles; i++)
 416         {
 417                 jlink_tap_append_step(0, 0);
 418         }
 419
 420         /* finish in end_state */
 421         jlink_end_state(saved_end_state);
 422         if (tap_get_state() != tap_get_end_state())
 423         {
 424                 jlink_state_move();
 425         }
 426 }
 427
 428 static void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 429 {
 430         tap_state_t saved_end_state;
 431
 432         jlink_tap_ensure_space(1, scan_size + 8);
 433
 434         saved_end_state = tap_get_end_state();
 435
 436         /* Move to appropriate scan state */
 437         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 438
 439         /* Only move if we're not already there */
 440         if (tap_get_state() != tap_get_end_state())
 441                 jlink_state_move();
 442
 443         jlink_end_state(saved_end_state);
 444
 445         /* Scan */
 446         jlink_tap_append_scan(scan_size, buffer, command);
 447
 448         /* We are in Exit1, go to Pause */
 449         jlink_tap_append_step(0, 0);
 450
 451         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 452
 453         if (tap_get_state() != tap_get_end_state())
 454         {
 455                 jlink_state_move();
 456         }
 457 }
 458
 459 static void jlink_reset(int trst, int srst)
 460 {
 461         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 462
 463         /* Signals are active low */
 464         if (srst == 0)
 465         {
 466                 jlink_simple_command(EMU_CMD_HW_RESET1);
 467                 jlink_end_state(TAP_RESET);
 468                 jlink_state_move();
 469         }
 470         else if (srst == 1)
 471         {
 472                 jlink_simple_command(EMU_CMD_HW_RESET0);
 473         }
 474
 475         if (trst == 0)
 476         {
 477                 jlink_simple_command(EMU_CMD_HW_TRST1);
 478                 jlink_end_state(TAP_RESET);
 479                 jlink_state_move();
 480         }
 481         else if (trst == 1)
 482         {
 483                 jlink_simple_command(EMU_CMD_HW_TRST0);
 484         }
 485 }
 486
 487 static void jlink_simple_command(u8 command)
 488 {
 489         int result;
 490
 491         DEBUG_JTAG_IO("0x%02x", command);
 492
 493         usb_out_buffer[0] = command;
 494         result = jlink_usb_write(jlink_jtag_handle, 1);
 495
 496         if (result != 1)
 497         {
 498                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 499         }
 500 }
 501
 502 static int jlink_get_status(void)
 503 {
 504         int result;
 505
 506         jlink_simple_command(EMU_CMD_GET_STATE);
 507
 508         result = jlink_usb_read(jlink_jtag_handle, 8);
 509         if (result != 8)
 510         {
 511                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 512                 return ERROR_JTAG_DEVICE_ERROR;
 513         }
 514
 515         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 516         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d\n", \
 517                 vref / 1000, vref % 1000, \
 518                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 519                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 520
 521         if (vref < 1500)
 522                 LOG_ERROR("Vref too low. Check Target Power\n");
 523
 524         return ERROR_OK;
 525 }
 526
 527 static int jlink_get_version_info(void)
 528 {
 529         int result;
 530         int len;
 531
 532         /* query hardware version */
 533         jlink_simple_command(EMU_CMD_VERSION);
 534
 535         result = jlink_usb_read(jlink_jtag_handle, 2);
 536         if (2 != result)
 537         {
 538                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n",
 539                                 result);
 540                 return ERROR_JTAG_DEVICE_ERROR;
 541         }
 542
 543         len = buf_get_u32(usb_in_buffer, 0, 16);
 544         result = jlink_usb_read(jlink_jtag_handle, len);
 545         if (result != len)
 546         {
 547                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n",
 548                                 result);
 549                 return ERROR_JTAG_DEVICE_ERROR;
 550         }
 551
 552         usb_in_buffer[result] = 0;
 553         LOG_INFO("%s", (char *)usb_in_buffer);
 554
 555         return ERROR_OK;
 556 }
 557
 558 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 559 {
 560         if (jlink_get_version_info() == ERROR_OK)
 561         {
 562                 /* attempt to get status */
 563                 jlink_get_status();
 564         }
 565
 566         return ERROR_OK;
 567 }
 568
 569 /***************************************************************************/
 570 /* J-Link tap functions */
 571
 572 /* 2048 is the max value we can use here */
 573 #define JLINK_TAP_BUFFER_SIZE 2048
 574
 575 static unsigned tap_length;
 576 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
 577 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 578 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 579
 580 typedef struct
 581 {
 582         int first;      /* First bit position in tdo_buffer to read */
 583         int length; /* Number of bits to read */
 584         scan_command_t *command; /* Corresponding scan command */
 585         u8 *buffer;
 586 } pending_scan_result_t;
 587
 588 #define MAX_PENDING_SCAN_RESULTS 256
 589
 590 static int pending_scan_results_length;
 591 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 592
 593 static int last_tms;
 594
 595 static void jlink_tap_init(void)
 596 {
 597         tap_length = 0;
 598         pending_scan_results_length = 0;
 599 }
 600
 601 static void jlink_tap_ensure_space(int scans, int bits)
 602 {
 603         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 604         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length;
 605
 606         if (scans > available_scans || bits > available_bits)
 607         {
 608                 jlink_tap_execute();
 609         }
 610 }
 611
 612 static void jlink_tap_append_step(int tms, int tdi)
 613 {
 614         last_tms = tms;
 615         int index = tap_length / 8;
 616
 617         if (index >= JLINK_TAP_BUFFER_SIZE)
 618         {
 619                 LOG_ERROR("jlink_tap_append_step: overflow");
 620                 exit(-1);
 621         }
 622
 623         int bit_index = tap_length % 8;
 624         u8 bit = 1 << bit_index;
 625
 626         // we do not pad TMS, so be sure to initialize all bits
 627         if (0 == bit_index)
 628                 tms_buffer[index] = tdi_buffer[index] = 0;
 629
 630         if (tms)
 631                 tms_buffer[index] |= bit;
 632         else
 633                 tms_buffer[index] &= ~bit;
 634
 635         if (tdi)
 636                 tdi_buffer[index] |= bit;
 637         else
 638                 tdi_buffer[index] &= ~bit;
 639
 640         tap_length++;
 641 }
 642
 643 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 644 {
 645         pending_scan_result_t *pending_scan_result =
 646                 &pending_scan_results_buffer[pending_scan_results_length];
 647         int i;
 648
 649         pending_scan_result->first = tap_length;
 650         pending_scan_result->length = length;
 651         pending_scan_result->command = command;
 652         pending_scan_result->buffer = buffer;
 653
 654         for (i = 0; i < length; i++)
 655         {
 656                 int tms = i < length - 1 ? 0 : 1;
 657                 int tdi = buffer[i / 8] & (1 << (i % 8));
 658                 jlink_tap_append_step(tms, tdi);
 659         }
 660         pending_scan_results_length++;
 661 }
 662
 663 /* Pad and send a tap sequence to the device, and receive the answer.
 664  * For the purpose of padding we assume that we are in idle or pause state. */
 665 static int jlink_tap_execute(void)
 666 {
 667         int byte_length;
 668         int tms_offset;
 669         int tdi_offset;
 670         int i;
 671         int result;
 672
 673         if (!tap_length)
 674                 return ERROR_OK;
 675
 676         // number of full bytes (plus one if some would be left over)
 677         byte_length = tap_length / 8 + !!(tap_length % 8);
 678
 679         usb_out_buffer[0] = EMU_CMD_HW_JTAG3;
 680         usb_out_buffer[1] = 0;
 681         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 682         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 683
 684         tms_offset = 4;
 685         for (i = 0; i < byte_length; i++)
 686         {
 687                 usb_out_buffer[tms_offset + i] = tms_buffer[i];
 688         }
 689
 690         tdi_offset = tms_offset + byte_length;
 691         for (i = 0; i < byte_length; i++)
 692         {
 693                 usb_out_buffer[tdi_offset + i] = tdi_buffer[i];
 694         }
 695
 696         result = jlink_usb_message(jlink_jtag_handle, 4 + 2 * byte_length, byte_length);
 697
 698         if (result != byte_length)
 699         {
 700                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)",
 701                                 result, byte_length);
 702                 return ERROR_JTAG_QUEUE_FAILED;
 703         }
 704
 705         for (i = 0; i < byte_length; i++)
 706                 tdo_buffer[i] = usb_in_buffer[i];
 707
 708         for (i = 0; i < pending_scan_results_length; i++)
 709         {
 710                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 711                 u8 *buffer = pending_scan_result->buffer;
 712                 int length = pending_scan_result->length;
 713                 int first = pending_scan_result->first;
 714                 scan_command_t *command = pending_scan_result->command;
 715
 716                 /* Copy to buffer */
 717                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 718
 719                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 720
 721 #ifdef _DEBUG_USB_COMMS_
 722                 jlink_debug_buffer(buffer, byte_length);
 723 #endif
 724
 725                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 726                 {
 727                         jlink_tap_init();
 728                         return ERROR_JTAG_QUEUE_FAILED;
 729                 }
 730
 731                 if (pending_scan_result->buffer != NULL)
 732                 {
 733                         free(pending_scan_result->buffer);
 734                 }
 735         }
 736
 737         jlink_tap_init();
 738
 739         return ERROR_OK;
 740 }
 741
 742 /*****************************************************************************/
 743 /* JLink USB low-level functions */
 744
 745 static jlink_jtag_t* jlink_usb_open()
 746 {
 747         struct usb_bus *busses;
 748         struct usb_bus *bus;
 749         struct usb_device *dev;
 750
 751         jlink_jtag_t *result;
 752
 753         result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
 754
 755         usb_init();
 756         usb_find_busses();
 757         usb_find_devices();
 758
 759         busses = usb_get_busses();
 760
 761         /* find jlink_jtag device in usb bus */
 762
 763         for (bus = busses; bus; bus = bus->next)
 764         {
 765                 for (dev = bus->devices; dev; dev = dev->next)
 766                 {
 767                         if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
 768                         {
 769                                 result->usb_handle = usb_open(dev);
 770
 771                                 /* usb_set_configuration required under win32 */
 772                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 773                                 usb_claim_interface(result->usb_handle, 0);
 774
 775 #if 0
 776                                 /*
 777                                  * This makes problems under Mac OS X. And is not needed
 778                                  * under Windows. Hopefully this will not break a linux build
 779                                  */
 780                                 usb_set_altinterface(result->usb_handle, 0);
 781 #endif
 782                                 return result;
 783                         }
 784                 }
 785         }
 786
 787         free(result);
 788         return NULL;
 789 }
 790
 791 static void jlink_usb_close(jlink_jtag_t *jlink_jtag)
 792 {
 793         usb_close(jlink_jtag->usb_handle);
 794         free(jlink_jtag);
 795 }
 796
 797 /* Send a message and receive the reply. */
 798 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
 799 {
 800         int result;
 801         int result2;
 802
 803         result = jlink_usb_write(jlink_jtag, out_length);
 804         if (result != out_length)
 805         {
 806                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 807                                 out_length, result);
 808                 return ERROR_JTAG_DEVICE_ERROR;
 809         }
 810
 811         result = jlink_usb_read(jlink_jtag, in_length);
 812         if ((result != in_length) && (result != in_length + 1))
 813         {
 814                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 815                                 in_length, result);
 816                 return ERROR_JTAG_DEVICE_ERROR;
 817         }
 818
 819         if (result == in_length)
 820         {
 821                 /* Must read the result from the EMU too */
 822                 result2 = jlink_usb_read_emu_result(jlink_jtag);
 823                 if (1 != result2)
 824                 {
 825                         LOG_ERROR("jlink_usb_read_emu_result failed "
 826                                 "(requested=1, result=%d)", result2);
 827                         return ERROR_JTAG_DEVICE_ERROR;
 828                 }
 829
 830                 /* Check the result itself */
 831                 result2 = usb_emu_result_buffer[0];
 832         }
 833         else
 834         {
 835                 /* Save the result, then remove it from return value */
 836                 result2 = usb_in_buffer[result--];
 837         }
 838
 839         if (result2)
 840         {
 841                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 842                 return ERROR_JTAG_DEVICE_ERROR;
 843         }
 844
 845         return result;
 846 }
 847
 848 /* calls the given usb_bulk_* function, allowing for the data to trickle in with some timeouts  */
 849 static int usb_bulk_with_retries(
 850                 int (*f)(usb_dev_handle *, int, char *, int, int),
 851                 usb_dev_handle *dev, int ep,
 852                 char *bytes, int size, int timeout)
 853 {
 854         int rc = 0, tries = 3, this_size;
 855
 856         while (tries && size) {
 857
 858                 this_size = f(dev, ep, bytes, size, timeout);
 859                 if (this_size > 0) {
 860
 861                         size -= this_size;
 862                         rc += this_size;
 863                         bytes += this_size;
 864
 865                 } else
 866                         tries --;
 867         }
 868         return rc;
 869 }
 870 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
 871                 char *bytes, int size, int timeout)
 872 {
 873         return usb_bulk_with_retries(&usb_bulk_write,
 874                         dev, ep, bytes, size, timeout);
 875 }
 876 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
 877                 char *bytes, int size, int timeout)
 878 {
 879         return usb_bulk_with_retries(&usb_bulk_read,
 880                         dev, ep, bytes, size, timeout);
 881 }
 882
 883 /* Write data from out_buffer to USB. */
 884 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
 885 {
 886         int result;
 887
 888         if (out_length > JLINK_OUT_BUFFER_SIZE)
 889         {
 890                 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
 891                 return -1;
 892         }
 893
 894         result = usb_bulk_write_ex(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT,
 895                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
 896
 897         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
 898
 899 #ifdef _DEBUG_USB_COMMS_
 900         jlink_debug_buffer(usb_out_buffer, out_length);
 901 #endif
 902         return result;
 903 }
 904
 905 /* Read data from USB into in_buffer. */
 906 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size)
 907 {
 908         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
 909                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
 910
 911         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
 912
 913 #ifdef _DEBUG_USB_COMMS_
 914         jlink_debug_buffer(usb_in_buffer, result);
 915 #endif
 916         return result;
 917 }
 918
 919 /* Read the result from the previous EMU cmd into result_buffer. */
 920 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag)
 921 {
 922         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
 923                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
 924                 JLINK_USB_TIMEOUT);
 925
 926         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
 927
 928 #ifdef _DEBUG_USB_COMMS_
 929         jlink_debug_buffer(usb_emu_result_buffer, result);
 930 #endif
 931         return result;
 932 }
 933
 934 #ifdef _DEBUG_USB_COMMS_
 935 #define BYTES_PER_LINE  16
 936
 937 static void jlink_debug_buffer(u8 *buffer, int length)
 938 {
 939         char line[81];
 940         char s[4];
 941         int i;
 942         int j;
 943
 944         for (i = 0; i < length; i += BYTES_PER_LINE)
 945         {
 946                 snprintf(line, 5, "%04x", i);
 947                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 948                 {
 949                         snprintf(s, 4, " %02x", buffer[j]);
 950                         strcat(line, s);
 951                 }
 952                 LOG_DEBUG("%s", line);
 953         }
 954 }
 955 #endif